testRotation.cpp

/****************************************************************************
 *
 * $Id: testRotation.cpp 4658 2014-02-09 09:50:14Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
 * 
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional 
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 * 
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 *
 * Description:
 * Tests transformation from various representations of rotation.
 *
 * Authors:
 * Eric Marchand
 * Fabien Spindler
 *
 *****************************************************************************/


#include <visp/vpMath.h>
#include <visp/vpRotationMatrix.h>
#include <visp/vpParseArgv.h>
#include <visp/vpQuaternionVector.h>

#include <stdlib.h>
#include <stdio.h>
#include <cassert>
#include <limits>
// List of allowed command line options
#define GETOPTARGS  "h"

void usage(const char *name, const char *badparam);
bool getOptions(int argc, const char **argv);

void usage(const char *name, const char *badparam)
{
  fprintf(stdout, "\n\
Tests transformation within various representations of rotation.\n\
\n\
SYNOPSIS\n\
  %s [-h]\n", name);

  fprintf(stdout, "\n\
OPTIONS:                                               Default\n\
  -h\n\
     Print the help.\n");

  if (badparam)
    fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}
bool getOptions(int argc, const char **argv)
{
  const char *optarg_;
  int   c;
  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {

    switch (c) {
    case 'h': usage(argv[0], NULL); return false; break;

    default:
      usage(argv[0], optarg_);
      return false; break;
    }
  }

  if ((c == 1) || (c == -1)) {
    // standalone param or error
    usage(argv[0], NULL);
    std::cerr << "ERROR: " << std::endl;
    std::cerr << "  Bad argument " << optarg_ << std::endl << std::endl;
    return false;
  }

  return true;
}


int
main(int argc, const char ** argv)
{
  try {
    // Read the command line options
    if (getOptions(argc, argv) == false) {
      exit (-1);
    }
    vpRotationMatrix R;
    for(int i=-10;i<10;i++){
      for(int j=-10;j<10;j++){
        vpThetaUVector tu(vpMath::rad(90+i), vpMath::rad(170+j), vpMath::rad(45)) ;
        tu.buildFrom(vpRotationMatrix(tu)); //put some coherence into rotation convention

        std::cout << "Initialization " <<std::endl ;

        double theta;
        vpColVector u;
        tu.extract(theta, u);

        std::cout << "theta=" << vpMath::deg(theta) << std::endl ;
        std::cout << "u=" << u << std::endl ;

        std::cout << "From vpThetaUVector to vpRotationMatrix " << std::endl ;
        R.buildFrom(tu)  ;

        std::cout << "Matrix R" ;
        if (R.isARotationMatrix()==1) std::cout <<" is a rotation matrix " << std::endl ;
        else std::cout <<" is not a rotation matrix " << std::endl ;

        std::cout << R << std::endl ;

        std::cout << "From vpRotationMatrix to vpQuaternionVector " << std::endl ;
        vpQuaternionVector q(R);
        std::cout << q <<std::endl ;

        R.buildFrom(q);
        std::cout << "From vpQuaternionVector to vpRotationMatrix  " << std::endl ;

        std::cout << "From vpRotationMatrix to vpRxyzVector " << std::endl ;
        vpRxyzVector RxyzBuildFromR(R) ;
        std::cout <<  RxyzBuildFromR <<std::endl ;


        std::cout << "From vpRxyzVector to vpThetaUVector " << std::endl ;
        std::cout << "  use From vpRxyzVector to vpRotationMatrix " << std::endl ;
        std::cout << "  use From vpRotationMatrix to vpThetaUVector " << std::endl ;


        vpThetaUVector tuBuildFromEu ;
        tuBuildFromEu.buildFrom(R) ;

        std::cout << std::endl ;
        std::cout <<  "result : should equivalent to the first one " << std::endl ;


        double theta2;
        vpColVector u2;

        tuBuildFromEu.extract(theta2, u2);
        std::cout << "theta=" << vpMath::deg(theta2) << std::endl ;
        std::cout << "u=" << u2 << std::endl ;

        assert(vpMath::abs(theta2-theta)<std::numeric_limits<double>::epsilon()*1e10);
        assert(vpMath::abs(u[0]-u2[0])<std::numeric_limits<double>::epsilon()*1e10);
        assert(vpMath::abs(u[1]-u2[1])<std::numeric_limits<double>::epsilon()*1e10);
        assert(vpMath::abs(u[2]-u2[2])<std::numeric_limits<double>::epsilon()*1e10);
      }
      vpRzyzVector rzyz(vpMath::rad(180), vpMath::rad(120), vpMath::rad(45)) ;
      std::cout << "Initialization vpRzyzVector " <<std::endl ;
      std::cout << rzyz << std::endl ;
      std::cout << "From vpRzyzVector to vpRotationMatrix  " << std::endl ;
      R.buildFrom(rzyz) ;
      std::cout << "From vpRotationMatrix to vpRzyzVector " << std::endl ;
      vpRzyzVector rzyz_final ;
      rzyz_final.buildFrom(R) ;
      std::cout << rzyz_final << std::endl ;


      vpRzyxVector rzyx(vpMath::rad(180), vpMath::rad(120), vpMath::rad(45)) ;
      std::cout << "Initialization vpRzyxVector " <<std::endl ;
      std::cout << rzyx << std::endl ;
      std::cout << "From vpRzyxVector to vpRotationMatrix  " << std::endl ;
      R.buildFrom(rzyx) ;
      std::cout << R << std::endl ;
      std::cout << "From vpRotationMatrix to vpRzyxVector " << std::endl ;
      vpRzyxVector rzyx_final ;
      rzyx_final.buildFrom(R) ;
      std::cout << rzyx_final << std::endl ;
    }
    return 0;
  }
  catch(vpException e) {
    std::cout << "Catch an exception: " << e << std::endl;
    return 1;
  }
}